Pulling the belt off is a matter of putting a socket on the tensioner, pulling it to the side, and removing the belt. Then you individually turn all of the pulleys and see if any of them are making any sort of grinding noise or feel like they are hanging up.
Power steering will be a little difficult to spin by hand because you will be manipulating a pump that is already pretty poorly designed and noisy. Like I already said.
The crank pulley will also be difficult to turn because you would be spinning the entire motor, I actually recommend not doing that. What you really need to worry about are the idler pulleys (not hooked up to anything), the tensioner pulley (the one on the tensioner, go figure), the water pump pulley (which again may be tough to manipulate but it's typically quite easy) and the alternator.
A mechanic's stethoscope can sometimes tell you things, but I feel like sometimes it is also very hard to hear over the motor. Plus someone newer using a stethoscope on a running motor might get caught up, and we certainly don't want you getting hurt. This is from my own dumb experience getting burned pretty good on a moving belt.